Multi robot coverage control in non-convex environments using ROS.

This is a ROS implementation of a multi-robot coverage control strategy based in [1] and [2] to address coverage in non-convex environments and adapt to performance variations.

It also has an add-on software for Unity that allows humans to interact with the robotic swarm, influencing their coverage task: Voronoi Unity Teleoperation

Dependencies:

• Stage
• matplotlib
• ar_track_alvar
• gctronic/epuck_driver

Download the code, place it on your catkin environment, compile it using catkin_make and run using:

roslaunch voronoi_hsi voronoi_8_with_app.launch

If you want to use real robots (epucks) instead of simulating it on Stage, you will need the driver gctronic/epuck_driver. Run it using:

roslaunch voronoi_hsi voronoi_8_with_app.launch real_robot:=true

This application can run standalone, but it can also run integrated with a VR application, which allows users to interact with the robotic swarm in the coverage task.

Please follow instructions at Voronoi Unity Teleoperation to setup and run the VR application.

This project is distibuted under the BSD 3-Clause License.

1. Bhattacharya, S., Ghrist, R. and Kumar, V., 2014. Multi-robot coverage and exploration on Riemannian manifolds with boundaries. The International Journal of Robotics Research, 33(1), pp.113-137.
2. Pierson, A., Figueiredo, L.C., Pimenta, L.C. and Schwager, M., 2015, May. Adapting to performance variations in multi-robot coverage. In Robotics and Automation (ICRA), 2015 IEEE International Conference on (pp. 415-420). IEEE.